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<div class="title">global_nn_classifier.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * global_nn_classifier.cpp</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 9, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pipeline/global_nn_classifier.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">pcl::rec_3d_framework::GlobalNNPipeline&lt;Distance, PointInT, FeatureT&gt;::loadFeaturesAndCreateFLANN</a> ()</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    boost::shared_ptr &lt; std::vector&lt;ModelT&gt; &gt; models = source_-&gt;getModels ();</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    {</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      std::string path = source_-&gt;getModelDescriptorDir (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      bf::path inside = path;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      bf::directory_iterator end_itr;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      <span class="keywordflow">for</span> (bf::directory_iterator itr_in (inside); itr_in != end_itr; ++itr_in)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#if BOOST_FILESYSTEM_VERSION == 3</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        std::string file_name = (itr_in-&gt;path ().filename ()).<span class="keywordtype">string</span>();</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        std::string file_name = (itr_in-&gt;path ()).filename ();</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        std::vector &lt; std::string &gt; strs;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        boost::split (strs, file_name, boost::is_any_of (<span class="stringliteral">&quot;_&quot;</span>));</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keywordflow">if</span> (strs[0] == <span class="stringliteral">&quot;descriptor&quot;</span>)</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        {</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          std::string full_file_name = itr_in-&gt;path ().string ();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;          std::vector &lt; std::string &gt; strs;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;          boost::split (strs, full_file_name, boost::is_any_of (<span class="stringliteral">&quot;/&quot;</span>));</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::Ptr signature (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          pcl::io::loadPCDFile (full_file_name, *signature);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;          flann_model descr_model;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;          descr_model.first = models-&gt;at (i);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;          <span class="keywordtype">int</span> size_feat = <span class="keyword">sizeof</span>(signature-&gt;points[0].histogram) / <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          descr_model.second.resize (size_feat);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          memcpy (&amp;descr_model.second[0], &amp;signature-&gt;points[0].histogram[0], size_feat * <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          flann_models_.push_back (descr_model);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    convertToFLANN (flann_models_, flann_data_);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    flann_index_ = <span class="keyword">new</span> <a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> (flann_data_, flann::LinearIndexParams ());</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    flann_index_-&gt;buildIndex ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">pcl::rec_3d_framework::GlobalNNPipeline&lt;Distance, PointInT, FeatureT&gt;::nearestKSearch</a> (<a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * index, <span class="keyword">const</span> flann_model &amp;model,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                                                                                         <span class="keywordtype">int</span> k, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> &amp;indices,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                                                                                         <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;distances)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> p = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">float</span>[model.second.size ()], 1, model.second.size ());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    memcpy (&amp;p.ptr ()[0], &amp;model.second[0], p.cols * p.rows * <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    indices = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">int</span>[k], 1, k);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    distances = <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> (<span class="keyword">new</span> <span class="keywordtype">float</span>[k], 1, k);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    index-&gt;knnSearch (p, indices, distances, k, flann::SearchParams (512));</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">delete</span>[] p.ptr ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ac8c8a6d7db373377744bec01414736ce">   74</a></span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ac8c8a6d7db373377744bec01414736ce">pcl::rec_3d_framework::GlobalNNPipeline&lt;Distance, PointInT, FeatureT&gt;::classify</a> ()</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    categories_.clear ();</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    confidences_.clear ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    first_nn_category_ = std::string (<span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    PointInTPtr processed (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    PointInTPtr in (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::CloudVectorType signatures;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    std::vector &lt; Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; centroids;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">if</span> (indices_.size ())</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*input_, indices_, *in);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      in = input_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    estimator_-&gt;estimate (in, processed, signatures, centroids);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    std::vector&lt;index_score&gt; indices_scores;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">if</span> (signatures.size () &gt; 0)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; signatures.size (); idx++)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">float</span>* hist = signatures[idx].<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">int</span> size_feat = <span class="keyword">sizeof</span>(signatures[idx].<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram) / <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        std::vector&lt;float&gt; std_hist (hist, hist + size_feat);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> empty;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        flann_model histogram (empty, std_hist);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> indices;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> distances;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        nearestKSearch (flann_index_, histogram, NN_, indices, distances);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="comment">//gather NN-search results</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">double</span> score = 0;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; NN_; ++i)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          score = distances[0][i];</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">index_score</a> is;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          is.idx_models_ = indices[0][i];</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          is.idx_input_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          is.score_ = score;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          indices_scores.push_back (is);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      std::sort (indices_scores.begin (), indices_scores.end (), sortIndexScoresOp);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      first_nn_category_ = flann_models_[indices_scores[0].idx_models_].first.class_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      std::map&lt;std::string, int&gt; category_map;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      std::map&lt;std::string, int&gt;::iterator it;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">int</span> num_n = std::min (NN_, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_scores.size ()));</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_n; ++i)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        std::string cat = flann_models_[indices_scores[i].idx_models_].first.class_;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        it = category_map.find (cat);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">if</span> (it == category_map.end ())</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          category_map[cat] = 1;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          it-&gt;second++;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">for</span> (it = category_map.begin (); it != category_map.end (); it++)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">float</span> prob = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (it-&gt;second) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_n);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        categories_.push_back (it-&gt;first);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        confidences_.push_back (prob);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      first_nn_category_ = std::string (<span class="stringliteral">&quot;error&quot;</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      categories_.push_back (first_nn_category_);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT&gt;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a3a2ce02d9a4f511800a85d6c0f5adad0">  165</a></span>&#160;  <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a3a2ce02d9a4f511800a85d6c0f5adad0">pcl::rec_3d_framework::GlobalNNPipeline&lt;Distance, PointInT, FeatureT&gt;::initialize</a> (<span class="keywordtype">bool</span> force_retrain)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">//use the source to know what has to be trained and what not, checking if the descr_name directory exists</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">//unless force_retrain is true, then train everything</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    boost::shared_ptr &lt; std::vector&lt;ModelT&gt; &gt; models = source_-&gt;getModels ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Models size:&quot;</span> &lt;&lt; models-&gt;size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">if</span> (force_retrain)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        source_-&gt;removeDescDirectory (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; models-&gt;size (); i++)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">if</span> (!source_-&gt;modelAlreadyTrained (models-&gt;at (i), training_dir_, descr_name_))</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> v = 0; v &lt; models-&gt;at (i).views_-&gt;size (); v++)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          PointInTPtr processed (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <span class="comment">//pro view, compute signatures</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::CloudVectorType signatures;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          std::vector &lt; Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; centroids;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          estimator_-&gt;estimate (models-&gt;at (i).views_-&gt;at (v), processed, signatures, centroids);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          <span class="comment">//source_-&gt;makeModelPersistent (models-&gt;at (i), training_dir_, descr_name_, static_cast&lt;int&gt; (v));</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          std::string path = source_-&gt;getModelDescriptorDir (models-&gt;at (i), training_dir_, descr_name_);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          bf::path desc_dir = path;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          <span class="keywordflow">if</span> (!bf::exists (desc_dir))</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            bf::create_directory (desc_dir);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          std::stringstream path_view;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          path_view &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/view_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          pcl::io::savePCDFileBinary (path_view.str (), *processed);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          std::stringstream path_pose;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          path_pose &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/pose_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          PersistenceUtils::writeMatrixToFile (path_pose.str (), models-&gt;at (i).poses_-&gt;at (v));</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          std::stringstream path_entropy;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          path_entropy &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/entropy_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          PersistenceUtils::writeFloatToFile (path_entropy.str (), models-&gt;at (i).self_occlusions_-&gt;at (v));</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="comment">//save signatures and centroids to disk</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; signatures.size (); j++)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            std::stringstream path_centroid;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            path_centroid &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/centroid_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;.txt&quot;</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            Eigen::Vector3f centroid (centroids[j][0], centroids[j][1], centroids[j][2]);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            PersistenceUtils::writeCentroidToFile (path_centroid.str (), centroid);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            std::stringstream path_descriptor;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            path_descriptor &lt;&lt; path &lt;&lt; <span class="stringliteral">&quot;/descriptor_&quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;_&quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            pcl::io::savePCDFileBinary (path_descriptor.str (), signatures[j]);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="comment">//else skip model</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;The model has already been trained...&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">//load features from disk</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">//initialize FLANN structure</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    loadFeaturesAndCreateFLANN ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  }</div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index&lt; DistT &gt;</a></div></div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix</a></div><div class="ttdef"><b>Definition:</b> flann_search.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; FeatureT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html">pcl::rec_3d_framework::GlobalNNPipeline</a></div><div class="ttdoc">Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a ...</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_a3a2ce02d9a4f511800a85d6c0f5adad0"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a3a2ce02d9a4f511800a85d6c0f5adad0">pcl::rec_3d_framework::GlobalNNPipeline::initialize</a></div><div class="ttdeci">void initialize(bool force_retrain=false)</div><div class="ttdoc">Initializes the FLANN structure from the provided source</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.hpp:165</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_html_ac8c8a6d7db373377744bec01414736ce"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ac8c8a6d7db373377744bec01414736ce">pcl::rec_3d_framework::GlobalNNPipeline::classify</a></div><div class="ttdeci">void classify()</div><div class="ttdoc">Performs classification</div><div class="ttdef"><b>Definition:</b> global_nn_classifier.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">pcl::rec_3d_framework::GlobalNNPipeline::index_score</a></div><div class="ttdef"><b>Definition:</b> global_nn_classifier.h:61</div></div>
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